Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails

Robots hold promise in many scenarios involving outdoor use, such as search-and-rescue, wildlife management, and collecting data to improve environment, climate, and weather forecasting. However, autonomous navigation of outdoor trails remains a challenging problem. Recent work has sought to address this issue using deep learning. Although this approach has achieved state-of-the-art results, the deep learning paradigm may be limited due to a reliance on large amounts of annotated training data. Collecting and curating training datasets may not be feasible or practical in many situations, especially as trail conditions may change due to seasonal weather variations, storms, and natural erosion. In this paper, we explore an approach to address this issue through virtual-to-real-world transfer learning using a variety of deep learning models trained to classify the direction of a trail in an image. Our approach utilizes synthetic data gathered from virtual environments for model training, bypassing the need to collect a large amount of real images of the outdoors. We validate our approach in three main ways. First, we demonstrate that our models achieve classification accuracies upwards of 95% on our synthetic data set. Next, we utilize our classification models in the control system of a simulated robot to demonstrate feasibility. Finally, we evaluate our models on real-world trail data and demonstrate the potential of virtual-to-real-world transfer learning.Comment: iROS 201

Methods for reducing visual discomfort in stereoscopic 3D: A review

This work was supported by the EPSRC Grant EP/M01469X/1, “Geometric Evaluation of Stereoscopic Video”

Overview: Computer vision and machine learning for microstructural characterization and analysis

The characterization and analysis of microstructure is the foundation of microstructural science, connecting the materials structure to its composition, process history, and properties. Microstructural quantification traditionally involves a human deciding a priori what to measure and then devising a purpose-built method for doing so. However, recent advances in data science, including computer vision (CV) and machine learning (ML) offer new approaches to extracting information from microstructural images. This overview surveys CV approaches to numerically encode the visual information contained in a microstructural image, which then provides input to supervised or unsupervised ML algorithms that find associations and trends in the high-dimensional image representation. CV/ML systems for microstructural characterization and analysis span the taxonomy of image analysis tasks, including image classification, semantic segmentation, object detection, and instance segmentation. These tools enable new approaches to microstructural analysis, including the development of new, rich visual metrics and the discovery of processing-microstructure-property relationships.Comment: submitted to Materials and Metallurgical Transactions

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task

Biosignalų požymių regos diskomfortui vertinti išskyrimas ir tyrimas

Comfortable stereoscopic perception continues to be an essential area of research. The growing interest in virtual reality content and increasing market for head-mounted displays (HMDs) still cause issues of balancing depth perception and comfortable viewing. Stereoscopic views are stimulating binocular cues – one type of several available human visual depth cues which becomes conflicting cues when stereoscopic displays are used. Depth perception by binocular cues is based on matching of image features from one retina with corresponding features from the second retina. It is known that our eyes can tolerate small amounts of retinal defocus, which is also known as Depth of Focus. When magnitudes are larger, a problem of visual discomfort arises. The research object of the doctoral dissertation is a visual discomfort level. This work aimed at the objective evaluation of visual discomfort, based on physiological signals. Different levels of disparity and the number of details in stereoscopic views in some cases make it difficult to find the focus point for comfortable depth perception quickly. During this investigation, a tendency for differences in single sensor-based electroencephalographic EEG signal activity at specific frequencies was found. Additionally, changes in eye tracker collected gaze signals were also found. A dataset of EEG and gaze signal records from 28 control subjects was collected and used for further evaluation. The dissertation consists of an introduction, three chapters and general conclusions. The first chapter reveals the fundamental knowledge ways of measuring visual discomfort based on objective and subjective methods. In the second chapter theoretical research results are presented. This research was aimed to investigate methods which use physiological signals to detect changes on the level of sense of presence. Results of the experimental research are presented in the third chapter. This research aimed to find differences in collected physiological signals when a level of visual discomfort changes. An experiment with 28 control subjects was conducted to collect these signals. The results of the thesis were published in six scientific publications – three in peer-reviewed scientific papers, three in conference proceedings. Additionally, the results of the research were presented in 8 conferences.Dissertatio

Deep learning models for 3D mesh saliency prediction.

El estudio de la atención visual humana ha sido ampliamente explorado en muchos trabajos. Consiste en detectar e identificar las regiones del estímulo que más llaman la atención del usuario, generalmente utilizando un eye tracker para recolectar los datos. Esta medida de las regiones de interés se conoce como saliencia, y su detección y modelado es un problema fundamental en gráficos por computadora y visión por computadora. Esta tesis de fin de máster presenta un modelo de predicción de salienia para nubes de puntos basado en aprendizaje profundo.<br /